A method for calculating the standard cycle time of a six-axis industrial robot

Abstract

This invention relates to a method for calculating the standard cycle time of a six-axis industrial robot. The method comprises the following steps: S1: Obtaining the structural and velocity parameters of each axis of the six-axis industrial robot; S2: Establishing a motion coordinate system; S3: Setting the ABCD standard portal motion trajectory, defining the four points of the portal trajectory as symmetrical points A, B, C, and D; S4: Calculating the angle formulas for one axis, two axes, three axes, and five axes; S5: Determining the optimal linear velocity based on the angle formulas for one, two, three, and five axes; S6: Calculating the displacement cycle time of the ABCD path; S7: Modifying the starting point of the ABCD path, repeating steps S5 and S6 to obtain the optimal displacement cycle time. This method for calculating the standard cycle time of a six-axis industrial robot has the advantage of improving the efficiency of obtaining cycle time.

Description

Technical Field

[0001] This invention relates to a method and equipment for calculating the standard cycle time of a six-axis industrial robot, and particularly to a method for calculating the standard cycle time of a six-axis industrial robot. Background Technology

[0002] The standard cycle time of a robot is an important indicator for measuring robot performance, such as... Figure 1 The figure shows the time required for a robot to lift a load 25mm high and travel back and forth along an arched path between two points 300mm apart.

[0003] Under normal circumstances, this standard beat time requires extensive field testing, a process that is cumbersome and time-consuming. Therefore, a method for calculating the theoretical beat time that does not rely on direct testing is needed. Summary of the Invention

[0004] Based on this, the purpose of this invention is to provide a standard cycle time calculation method for a six-axis industrial robot. This method can quickly calculate the standard cycle time of a six-axis robot under different trajectories and different set parameters using only the robot's parameters. The cycle time can be obtained without testing, which has the advantage of improving the efficiency of obtaining cycle time.

[0005] This invention is achieved through the following scheme:

[0006] A method for calculating the standard cycle time of a six-axis industrial robot includes the following steps:

[0007] S1: Obtain the structural and speed parameters of each axis of the six-axis industrial robot;

[0008] S2: Establish a motion coordinate system, with the mounting base of the six-axis industrial robot as the xy plane and the rotation axis as the z-axis;

[0009] S3: Set the standard ABCD gantry motion trajectory, and define the four points of the gantry trajectory as symmetrical points A, B, C, and D;

[0010] S4: Set the position formulas for the coordinate axes, and calculate the angle formulas θ1 for the first axis, θ2 for the second axis, θ3 for the third axis, and θ5 for the fifth axis based on the position formulas;

[0011] S5: Determine the optimal linear velocity setting based on the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), θ5 (five axes), and velocity parameters.

[0012] S6: Calculate the displacement cycle time of path ABCD;

[0013] S7: Modify the starting point of the above ABCD path, repeat steps S5 and S6 to obtain the optimal displacement cycle time.

[0014] Furthermore, step S1 also includes the following sub-steps:

[0015] S11: Obtain the joint lengths of each axis of the six-axis industrial robot;

[0016] S12: Obtain the maximum joint speed, maximum joint acceleration, and joint limit angle for each axis of the six-axis industrial robot.

[0017] Furthermore, step S3 also includes the following steps:

[0018] Let the coordinates of point A be (x0, y0, z0); then the other three points are B(x0, y0, z0+25), C(x0, y0+300, z0+25), and D(x0, y0+300, z0).

[0019] Furthermore, step S4 also includes the following sub-steps:

[0020] S41: Let the maximum linear velocity be V, then the component in the X direction is v. x The component in the Y direction is v y The component in the X direction is v z ;

[0021] S42: According to v x v y and v z List the position formulas x(t), y(t), and z(t) in space with respect to time t;

[0022] S43: Based on x(t) and y(t), calculate the projected distance z from the end of path ABCD to the origin along the Z-axis. 投影 (t);

[0023] S44: According to z(t), z 投影 (t), base height Z and five-axis length L 56 Calculate the projection distance l from the end of path ABCD to the origin on the plane formed by the upper and lower arms. 投影 (t);

[0024] S45: Based on x(t) and y(t), the angle formula θ1 of one axis is calculated;

[0025] S46: According to z(t), l 投影 (t), biaxial length L 23 and the three-axis length L 34 The angle formula θ2 of the two axes is obtained by calculation;

[0026] S47: According to l 投影 (t), biaxial length L 23 and the three-axis length L 34 The angle formula θ3 of the three axes is obtained by calculation;

[0027] S48: According to z(t), l 投影 (t), length of the two axes L 23 and the three-axis length L 34 The angle formula θ5 of the five axes is calculated.

[0028] Furthermore, step S5 also includes the following sub-steps:

[0029] S51: Obtain the angular velocity formula for the first axis by taking the first derivative of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes). Angular velocity formula for two axes Angular velocity formula for three axes Formulas for angular velocity of the five axes

[0030] S52: Taking the second derivatives of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes) yields the angular acceleration formula for the one axis. Biaxial angular acceleration formula Angular acceleration formula for three axes Formulas for angular acceleration along the five axes

[0031] S53: By traversing the point (x, y, z) to any point on the path ABCD, solve for the maximum angular velocity and maximum angular acceleration of each axis that satisfy the structural parameters and velocity parameters;

[0032] S54: Convert the maximum angular velocity and maximum angular acceleration of each axis that meet the structural parameters and velocity parameters into the maximum linear velocity and maximum acceleration of the corresponding point.

[0033] Furthermore, step S6 also includes the following sub-steps:

[0034] S61: Calculate the displacement time t of AB based on the maximum linear velocity, maximum acceleration, and path distance AB at the corresponding points. ab ;

[0035] S62: Calculate the displacement time t of BC based on the maximum linear velocity, maximum acceleration, and path distance of BC at the corresponding point. bc ;

[0036] S63: Calculate the displacement time t of CD based on the maximum linear velocity, maximum acceleration, and path distance of the corresponding point. cd ;

[0037] S64: Based on the displacement time t of AB ab BC displacement time t bc CD displacement time t cd The total path displacement cycle time is calculated by taking into account the pause time t1 set for path switching.

[0038] Furthermore, in step S42, the obtained position formulas x(t), y(t), and z(t) are:

[0039]

[0040] Further, in step S43, the calculated projection distance formula z 投影 (t) is:

[0041]

[0042] Further, in step S44, the calculated projection distance formula l 投影 (t) is:

[0043]

[0044] Furthermore, in steps S45, S46, S47, and S48, the calculated angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes) are as follows:

[0045]

[0046]

[0047]

[0048]

[0049] The standard cycle time calculation method for a six-axis industrial robot described in this invention has the following beneficial effects:

[0050] 1. By setting coordinate axes and formulas and combining them with robot parameters, the angle formulas for each axis are calculated. Then, the optimal linear velocity is obtained by differentiation and traversal method. This allows for the rapid calculation of the standard cycle time of a six-axis robot under different trajectories and different set parameters. The cycle time can be obtained without testing, which has the advantage of improving the efficiency of obtaining cycle time.

[0051] 2. Add pause time to the obtained cycle time to simulate the actual robot operation, making the calculated cycle time more accurate and closer to the real value.

[0052] 3. In order to find the optimal linear velocity position, the starting point of positions ABCD is modified. When all positions ABCD are within the machine's workspace, the cycle time is re-determined, and the optimal cycle time can be obtained, making the obtained cycle structure more accurate.

[0053] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the standard cycle time of a six-axis industrial robot, which is part of the technical disclosure of this invention.

[0055] Figure 2 A diagram illustrating a standard cycle time calculation method for a six-axis industrial robot according to an embodiment of the present invention;

[0056] Figure 3 This is a flowchart illustrating the parameter acquisition process of a standard cycle time calculation method for a six-axis industrial robot according to an embodiment of the present invention.

[0057] Figure 4 This is a flowchart illustrating the calculation of the angle formulas for each axis in a standard cycle time calculation method for a six-axis industrial robot according to an embodiment of the present invention.

[0058] Figure 5 This is a flowchart illustrating the optimal linear velocity calculation method for a standard cycle time calculation method for a six-axis industrial robot according to an embodiment of the present invention.

[0059] Figure 6 This is a flowchart illustrating the cycle time calculation method for a standard cycle time calculation method for a six-axis industrial robot according to an embodiment of the present invention. Detailed Implementation

[0060] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0061] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0063] To address the technical problems in the background art, this invention provides a method for calculating the standard cycle time of a six-axis industrial robot, such as... Figure 2 As shown, it includes the following steps:

[0064] S1: Obtain the structural and speed parameters of each axis of the six-axis industrial robot;

[0065] S2: Establish a motion coordinate system, with the mounting base of the six-axis industrial robot as the xy plane and the rotation axis as the z-axis;

[0066] S3: Set the standard ABCD gantry motion trajectory, and define the four points of the gantry trajectory as symmetrical points A, B, C, and D;

[0067] S4: Set the position formulas for the coordinate axes, and calculate the angle formulas θ1 for the first axis, θ2 for the second axis, θ3 for the third axis, and θ5 for the fifth axis based on the position formulas;

[0068] S5: Determine the optimal linear velocity setting based on the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), θ5 (five axes), and velocity parameters.

[0069] S6: Calculate the displacement cycle time of path ABCD;

[0070] S7: Modify the starting point of the above ABCD path, repeat steps S5 and S6 to obtain the optimal displacement cycle time.

[0071] The standard cycle time calculation method for a six-axis industrial robot described in this application involves obtaining the robot's parameters, calculating the angle formulas for each axis based on the established coordinate system and robot parameters, and then obtaining the angular velocity and angular acceleration formulas for each axis by performing first and second derivatives on the angle formulas. The optimal linear velocity on the set ABCD path is then determined using the angular velocity and angular acceleration formulas. The cycle time is then calculated based on the optimal linear velocity. Finally, the optimal displacement cycle time is found by changing the starting point of the ABCD path.

[0072] The standard cycle time calculation method for a six-axis industrial robot described in this application can quickly calculate the standard cycle time of a six-axis robot under different trajectories and different set parameters by relying solely on the robot's parameters. The cycle time can be obtained without testing, which has the advantage of improving the efficiency of obtaining cycle time.

[0073] Specifically, in step S1, structural parameters and velocity parameters are obtained, such as... Figure 3 As shown, it also includes the following sub-steps:

[0074] S11: Obtain the joint lengths of each axis of the six-axis industrial robot;

[0075] S12: Obtain the maximum joint speed, maximum joint acceleration, and joint limit angle of each axis of the six-axis industrial robot.

[0076] Since different robots have different parameters, by obtaining data such as the joint length, maximum joint speed, maximum joint acceleration, and joint limit angle of each axis of the robot, it can be used to calculate the standard cycle time of the robot.

[0077] Furthermore, setting the ABCD standard gantry motion trajectory in step S3 also includes the following steps:

[0078] Let the coordinates of point A be (x0, y0, z0); then the other three points are B(x0, y0, z0+25), C(x0, y0+300, z0+25), and D(x0, y0+300, z0).

[0079] Since ABCD is a standard gantry-shaped motion trajectory, the coordinates of the four points A, B, C, and D can be specifically marked to facilitate subsequent calculations of the ABCD path.

[0080] Further, in step S4, the angle formulas for one axis, two axes, three axes, and five axes are calculated, such as... Figure 4 As shown, this is achieved through the following sub-steps:

[0081] S41: Let the maximum linear velocity be V, then the component in the X direction is v. x The component in the Y direction is v y The component in the X direction is v z ;

[0082] S42: According to v x v y and v z List the position formulas x(t), y(t), and z(t) in space with respect to time t;

[0083] S43: Based on x(t) and y(t), calculate the projection distance z from the end point of path ABCD to the origin along the Z-axis. 投影 (t);

[0084] S44: According to z(t), z 投影 (t), base height Z and five-axis length L56 The formula for calculating the projected distance from the end of path ABCD to the origin on the plane formed by the upper and lower arms is: l 投影 (t);

[0085] S45: Based on x(t) and y(t), the angle formula θ1 of one axis is calculated;

[0086] S46: According to z(t), l 投影 (t), length of the two axes L 23 and the three-axis length L 34 The angle formula θ2 of the two axes is obtained by calculation;

[0087] S47: According to l 投影 (t), length of the two axes L 23 and the three-axis length L 34 The angle formula θ3 of the three axes is obtained by calculation;

[0088] S48: According to z(t), l 投影 (t), length of the two axes L 23 and the three-axis length L 34 The angle formula θ5 of the five axes is calculated.

[0089] In this embodiment, based on the established position formulas for the x, y, and z axes, the projection formula of the plane formed by the Z-axis direction and the upper and lower arms is obtained through spatial geometry calculations. Then, based on spatial geometry, the robot's structural parameters, and the formulas obtained above, the angle formulas for each axis are calculated.

[0090] Specifically, in step S42, the position formulas x(t), y(t), and z(t) are set as follows:

[0091]

[0092] Specifically, in step S43, the projected distance z is calculated using the formulas x(t) and y(t) obtained above. 投影 The formula for (t) is:

[0093]

[0094] Specifically, in step S44, the formulas z(t) and z obtained above are used. 投影 (t), base height Z and five-axis length L 56 The calculated projection distance l 投影 (t) is:

[0095]

[0096] Specifically, in steps S45, S46, S47, and S48, using the formulas x(t) and y(t) obtained above, the angle formula θ1 of one axis is calculated as follows:

[0097]

[0098] Using the formulas z(t) and l obtained above 投影 (t), length of the two axes L 23 and the three-axis length L 34 The calculated formula for the biaxial angle θ2 is:

[0099]

[0100] Using the formula obtained above 投影 (t), length of the two axes L 23 and the three-axis length L 34 The calculated angle formula θ3 for the three axes is:

[0101]

[0102] Using the formulas z(t) and l obtained above 投影 (t), length of the two axes L 23 and the three-axis length L 34 The calculated angle formula θ5 for the five axes is:

[0103]

[0104] Furthermore, in step S5, in order to determine the optimal set linear velocity, such as... Figure 5 As shown, it also includes the following sub-steps:

[0105] S51: Obtain the angular velocity formula for the first axis by taking the first derivative of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes). Angular velocity formula for two axes Angular velocity formula for three axes Formulas for angular velocity of the five axes

[0106] S52: Taking the second derivatives of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes) yields the angular acceleration formula for the one axis. Biaxial angular acceleration formula Angular acceleration formula for three axes Formulas for angular acceleration along the five axes

[0107] S53: By traversing the point (x, y, z) to any point on the path ABCD, solve for the maximum angular velocity and maximum angular acceleration of each axis that satisfy the structural parameters and velocity parameters;

[0108] S54: Convert the maximum angular velocity and maximum angular acceleration of each axis that meet the structural parameters and velocity parameters into the maximum linear velocity and maximum acceleration of the corresponding point.

[0109] In this embodiment, the angular velocity formula for each axis can be obtained by taking the first derivative of the angle formula for each axis, and the angular acceleration formula for each axis can be obtained by taking the second derivative. The ABCD path is traversed according to the angular velocity formula and the angular acceleration formula to see if the maximum angular velocity and maximum angular acceleration of each axis meet the velocity parameters obtained in step S1. Thus, the optimal linear velocity is determined based on the maximum angular velocity and maximum angular acceleration of each axis according to the combined structural parameters and velocity parameters.

[0110] In one example, at the point (220, 150, 475.5) on the ABCD path, when the linear velocity is 2.575 m / s, the maximum velocity of its two axes reaches the limit of 267.3° / s. Therefore, the linear velocity cannot exceed 2.575 m / s. By traversing each point in this manner, the final linear velocity requirement can be determined. It should be noted that the linear velocity value set by the machine is usually not the theoretical maximum linear velocity. From the perspective of safety and stability, a lower range is usually taken, such as the machine in the example above which ultimately sets the linear velocity to 2 m / s and the acceleration to 4.44 m / s².

[0111] Furthermore, in step S6, in order to calculate the cycle time using the optimal linear velocity, such as... Figure 6 As shown, it also includes the following sub-steps:

[0112] S61: Calculate the displacement time t of AB based on the maximum linear velocity, maximum acceleration, and path distance AB at the corresponding points. ab ;

[0113] S62: Calculate the displacement time t of BC based on the maximum linear velocity, maximum acceleration, and path distance of BC at the corresponding point. bc ;

[0114] S63: Calculate the displacement time t of CD based on the maximum linear velocity, maximum acceleration, and path distance of the corresponding point. cd ;

[0115] S64: Based on the displacement time t of AB ab BC displacement time t bc CD displacement time t cd The total path displacement cycle time is calculated by taking into account the pause time t1 set for path switching.

[0116] In this embodiment, the minimum time required for each path segment is calculated by using the maximum linear velocity and maximum acceleration of the corresponding points. Then, the time required for each path segment is added together according to the overall path planning, and the pause time required between different road segments is added together to obtain the total path displacement cycle time.

[0117] In one example, the displacement of path segment AB is 0.025m, requiring 0.289s; the displacement of path segment BC is 0.3m, requiring 0.672s; and the displacement of path segment CD is 0.025m, requiring 0.289s. Repeating this path in reverse, the cycle time is (0.289 + 0.672 + 0.289) * 2 = 2.5. Furthermore, there is usually a brief pause at the end of each path segment due to delays in the control system. Taking this factor into account improves the accuracy of the calculation. For example, if the pause time t1 is 0.182s, a total of 6 pauses are required in the ABCD path, meaning the total time is 2.5 + 0.182 * 6 = 3.592s.

[0118] It's important to note that since step S6 involves traversing the ABCD path and extending the points to any point, the theoretical maximum linear velocity can be calculated. However, this theoretical maximum linear velocity is typically found at the machine's extreme angles, which are rarely reached in actual operation. Therefore, to find the optimal linear velocity position, step S7 is usually included. This involves modifying the starting point of the ABCD positions, performing steps S5 and S6 only when all ABCD positions are within the machine's workspace, ultimately yielding the optimal cycle time.

[0119] The standard cycle time calculation method for a six-axis industrial robot described in this application has the following beneficial effects:

[0120] 1. By setting coordinate axes and formulas and combining them with robot parameters, the angle formulas for each axis are calculated. Then, the optimal linear velocity is obtained by differentiation and traversal method. This allows for the rapid calculation of the standard cycle time of a six-axis robot under different trajectories and different set parameters. The cycle time can be obtained without testing, which has the advantage of improving the efficiency of obtaining cycle time.

[0121] 2. Add pause time to the obtained cycle time to simulate the actual robot operation, making the calculated cycle time more accurate and closer to the real value.

[0122] 3. In order to find the optimal linear velocity position, the starting point of positions ABCD is modified. When all positions ABCD are within the machine's workspace, the cycle time is re-determined, and the optimal cycle time can be obtained, making the obtained cycle structure more accurate.

[0123] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. A method for calculating the standard cycle time of a six-axis industrial robot, characterized in that, Includes the following steps: S1: Obtain the structural and speed parameters of each axis of the six-axis industrial robot; S2: Establish a motion coordinate system, with the mounting base of the six-axis industrial robot as the xy plane and the rotation axis as the z-axis; S3: Set the standard ABCD gantry motion trajectory, and define the four points of the gantry trajectory as symmetrical points A, B, C, and D; S4: Set the position formulas for the coordinate axes, and calculate the angle formulas θ1 for the first axis, θ2 for the second axis, θ3 for the third axis, and θ5 for the fifth axis based on the position formulas; S5: Determine the optimal linear velocity setting based on the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), θ5 (five axes), and velocity parameters. S6: Calculate the displacement cycle time of path ABCD; S7: Modify the starting point of the above ABCD path, repeat steps S5 and S6 to obtain the optimal displacement cycle time.

2. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 1, characterized in that, Step S1 also includes the following sub-steps: S11: Obtain the joint lengths of each axis of the six-axis industrial robot; S12: Obtain the maximum joint speed, maximum joint acceleration, and joint limit angle of each axis of the six-axis industrial robot.

3. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 2, characterized in that, Step S3 also includes the following steps: Let the coordinates of point A be (x0, y0, z0); then the other three points are B(x0, y0, z0+25), C(x0, y0+300, z0+25), and D(x0, y0+300, z0).

4. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 3, characterized in that, Step S4 also includes the following sub-steps: S41: Let the maximum linear velocity be V, then the component in the X direction is v. x The component in the Y direction is v y The component in the X direction is v z ; S42: According to v x v y and v z List the position formulas x(t), y(t), and z(t) in space with respect to time t; S43: Based on x(t) and y(t), calculate the projection distance z from the end point of path ABCD to the origin along the Z-axis. 投影 (t); S44: According to z(t), z 投影 (t), base height Z and five-axis length L 56 The formula for calculating the projected distance from the end of path ABCD to the origin on the plane formed by the upper and lower arms is l. 投影 (t); S45: Based on x(t) and y(t), the angle formula θ1 of one axis is calculated; S46: According to z(t), l 投影 (t), biaxial length L 23 and the three-axis length L 34 The angle formula θ2 of the two axes is obtained by calculation; S47: According to l 投影 (t), biaxial length L 23 and the three-axis length L 34 The angle formula θ3 of the three axes is obtained by calculation; S48: According to z(t), l 投影 (t), biaxial length L 23 and the three-axis length L 34 The angle formula θ5 of the five axes is calculated.

5. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 4, characterized in that, Step S5 also includes the following sub-steps: S51: Obtain the angular velocity formula for the first axis by taking the first derivative of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes). Angular velocity formula for two axes Angular velocity formula for three axes Formulas for angular velocity of the five axes S52: Taking the second derivatives of the angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes) yields the angular acceleration formula for the one axis. Biaxial angular acceleration formula Angular acceleration formula for three axes Formulas for angular acceleration along the five axes S53: By traversing the point (x, y, z) to any point on the path ABCD, solve for the maximum angular velocity and maximum angular acceleration of each axis that satisfy the structural parameters and velocity parameters; S54: Convert the maximum angular velocity and maximum angular acceleration of each axis that meet the structural parameters and velocity parameters into the maximum linear velocity and maximum acceleration of the corresponding point.

6. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 5, characterized in that, Step S6 also includes the following sub-steps: S61: Calculate the displacement time t of AB based on the maximum linear velocity, maximum acceleration, and path distance AB at the corresponding points. ab ; S62: Calculate the displacement time t of BC based on the maximum linear velocity, maximum acceleration, and path distance of BC at the corresponding point. bc ; S63: Calculate the displacement time t of CD based on the maximum linear velocity, maximum acceleration, and path distance of the corresponding point. cd ; S64: Based on the displacement time t of AB ab BC displacement time t bc CD displacement time t cd The total path displacement cycle time is calculated by taking into account the pause time t1 set for path switching.

7. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 3, characterized in that, In step S42, the position formulas x(t), y(t), and z(t) are obtained as follows:

8. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 7, characterized in that, In step S43, the calculated projection distance formula z 投影 (t) is:

9. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 8, characterized in that, In step S44, the calculated projection distance formula l 投影 (t) is:

10. The method for calculating the standard cycle time of a six-axis industrial robot according to claim 9, characterized in that, In steps S45, S46, S47, and S48, the calculated angle formulas θ1 (one axis), θ2 (two axes), θ3 (three axes), and θ5 (five axes) are as follows:

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